EP1485266A1

EP1485266A1 - Method for controlling a hybrid drive of a vehicle

Info

Publication number: EP1485266A1
Application number: EP02776661A
Authority: EP
Inventors: Claus Bischoff
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2002-01-24
Filing date: 2002-09-07
Publication date: 2004-12-15
Anticipated expiration: 2022-09-07
Also published as: WO2003062004A1; US7363122B2; US20050119805A1; DE10202531A1; JP3914920B2; EP1485266B1; DE50206941D1; JP2005515114A

Abstract

The invention relates to a method for controlling a hybrid drive of a vehicle. According to said method, the hybrid drive comprises an internal combustion engine and at least one electric motor as the drive mechanisms and the output shafts of the drive mechanisms are actively connected to a drive train of the vehicle. The invention is characterised in that during a negative moment demand (brakes) made on the drive train of the vehicle, the electric motor(s) (16) and the gearbox are controlled based on a characteristic diagram in the generator operating mode.

Description

Method for controlling a hybrid drive of a vehicle

The invention relates to a method for controlling a hybrid drive of a vehicle, the hybrid drive comprising ^" an internal combustion engine and at least one electrical machine as drive machines" and the output shafts of the drive machines being operatively connectable to a drive train of the vehicle.

State of the art

Hybrid drives for vehicles are known. In the hybrid drives mentioned here, an internal combustion engine is combined with at least one electrical machine, so that several drive sources for _. the vehicle is available. In accordance with predetermined requirements by a vehicle driver, the drive sources can optionally feed their drive torques into a drive train of the vehicle. In a manner known per se, this results in different drive design options, depending on specific driving situations, which in particular the serve to improve driving comfort and reduce energy consumption and reduce pollutant emissions.

In hybrid drives for vehicles are serial arrangements, parallel arrangements and mixed arrangements. Solutions of internal combustion engine and electrical machines known. Depending on the arrangement, the electrical machines can be switched directly or indirectly into the drive train of the internal combustion engine. For the active connection of the internal combustion engine and / or the electrical machines, it is known to arrange them operatively connected to one another via gears, for example planetary gears or the like, and couplings.

In order to be able to optimally implement a driver's request for a drive power of the hybrid drive, coordinated control of the drive machines of the hybrid drive is required, which is known to be carried out by a so-called engine control unit. The drive machines can be controlled based on a target operating state of the hybrid drive to be determined by the engine control unit. The aim in determining this target operating state is, in particular, low fuel consumption, dynamic driving behavior of the vehicle and low pollutant emissions.

Furthermore, it is generally known to use vehicles with an electronically controllable braking system, for example as an electrohydraulic brake or an electromechanical brake.

Advantages of the invention

The method according to the invention with the features mentioned in claim 1 offers the advantage that the energy consumption of the vehicle can be reduced with the aid of braking energy regeneration. The fact that in the event of a negative torque request to the drive train of the vehicle, the at least one electrical machine is controlled in the generator operating mode, it is advantageously possible to derive optimized control variables for the at least one electrical machine derived from the desired braking torque , In particular, it is important to achieve the greatest possible energy input into the vehicle electrical system with the electrical machine operating as a generator. In particular, an optimal regenerative braking strategy can be carried out here, wherein different braking strategies, in particular purely regenerative braking, simultaneous regenerative and mechanical braking or purely mechanical braking, can be implemented by the Kennfeid-based control of at least one electrical machine. In each case, the maximum possible braking energy regeneration corresponding to the selected operating modes is possible with the exact implementation of the desired braking torque. This can be done via the generator operation of the electrical machine in the vehicle electrical system and possibly in a motor vehicle. Stuff battery are fed, so that no additional external energy requirement, for example via the operation of the internal combustion engine, are applied for this braking energy gained uss. Overall, this contributes to a reduction in fuel consumption and thus to a reduction in pollutant emissions from the vehicle.

Further preferred embodiments of the invention result from the other features mentioned in the subclaims.

drawings

The invention is explained in more detail below in exemplary embodiments with reference to the associated drawings. Show it:

Figure 1 is a block diagram for controlling a hybrid drive and braking system

vehicle;

FIG. 2 shows a schematic view of a hybrid drive in a specific exemplary embodiment;

Figure 3 shows a control map of an electrical machine according to the embodiment in Figure 2 and

FIG. 4 shows a shift map of a transmission according to the exemplary embodiment in FIG. 2. Description of the embodiments

FIG. 1 schematically shows a drive train and a braking system of a vehicle in a block diagram. The vehicles addressed here comprise a hybrid drive 10, which comprises an internal combustion engine 12, a transmission 14 and ^' at least one electrical machine 16. The electrical machine 16 is connected to a traction battery 18 integrated into an on-board electrical system of the vehicle, from which it draws electrical energy in motor operation or into which it feeds electrical energy in generator operation. Furthermore, the electrical machine 16 - and also the internal combustion engine 12 - is integrated into a cooling circuit 20 through which a cooling medium, for example water, flows.

The vehicle also includes an electronically controllable brake system 22, for example an electro-hydraulic or electromechanical brake system. Hybrid drive 10 and brake system 22 act on a drive arrangement 24, which in particular comprises drive shafts, drive axles, vehicle wheels and the like.

The hybrid drive 10 and the brake system 22 are controlled by a control unit 26. The structure, arrangement and interaction of control unit 26, hybrid drive 10, brake system 22 and drive arrangement 24 are generally known, so that this is not discussed in more detail in the context of the present description - is gone. In the following, the control of the hybrid drive 10 according to the invention is discussed in particular in the event of a negative torque request to the drive arrangement 24. This negative momentary request can, for example, by actuation. a brake pedal or a driving machine. In accordance with this negative torque requirement, a target braking torque is to be applied to the wheels of the drive arrangement 24.

The control unit 26 includes, among other things, an interface 28 via which signals 30 from vehicle components can be received. In particular, signals 30 are received from a higher-level vehicle control system, from the units of the hybrid drive 10, the brake system 22 and the drive arrangement 24. The signals 30 include, among others, a gearbox output shaft setpoint torque M _A , the average wheel speed n _{wheel of} the drive axle, an ESP intervention flag ESP _F ι _a g, a current battery current Ißa, a battery charging input Bat _La df, a current generator current I _Gen and a cooling water temperature T _Küh i of the cooling circuit 20 provided. The transmission output shaft target torque M _A is obtained, for example, from an interpretation of an accelerator pedal and / or brake pedal (operated by the vehicle driver) or an automatic drive. • The averaged wheel speed and the ESP intervention flag ESP _F i _a g are supplied, for example, by a wheel slip control system. The interface 28 also determines a derivation of the output shaft target torque M _A / dt and a reference speed from the averaged wheel speed n _wheel. speed v about the gear ratio between the output shaft of the hybrid drive 10 and wheel.

The information corresponding to the signals 30 is passed on to a regeneration strategy block 32. The regeneration strategy block 32 supplies the hybrid drive 10 with a signal 34 which, as control variables, specifies a setpoint torque M ₆ and a set speed n ₆ for the electric machine 16 and a set ratio i ₄ for the transmission 14. In addition, of course, other variables for vehicle control are determined and output, but these are not to be considered in the context of the present description.

The regeneration strategy block 32 comprises four function modules, namely a vehicle-specific strategy block 36, a brake module selector 38, a switching logic 40 and an aggregate control 42.

The regeneration strategy block 32 provides different operating strategies for different operating states of the aggregates of the hybrid drive 10 and of the entire vehicle. For this purpose, 38 basic operating strategies are provided in the brake module selector. First, a distinction is made between the following basic options:

1. purely regenerative braking on the drive axle, however, the mechanical power for driving the electrical machine 16 in generator mode is not sufficient for conversion losses of the electrical Cover machine. Although the electrical machine 16 operates in generator mode, it must also be supplied with electrical power from the vehicle electrical system.

2. purely regenerative braking on the drive axle and the electrical machine 16 is in generator mode and feeds electrical power into the vehicle electrical system.

3. purely regenerative braking on the drive axle and the electrical machine 16 is in generator mode and feeds electrical power into the vehicle electrical system and into the battery 18.

4. Proportionate ^' regenerative and mechanical braking on the drive axle. The power of the electrical machine 16 is not sufficient to apply the full target deceleration torque for the vehicle. The electrical machine 16 is in generator mode and feeds electrical power into the vehicle electrical system and into the battery 18. The mechanical brake takes over the target-actual difference.

5. purely mechanical braking.

The brake module selector 38 activates operating modes depending on the signals 30 present at the interface 28 with the aid of the following decision matrix (0 = no, l = yes):

Only if there is no ESP intervention in a braking situation, i.e. ESP _F ι _ag = 0, and there is no fault on the units active during regenerative braking, i.e. FRek _F ι _ag = 0, is regenerative braking according to one of the operating modes 1 to 4 permitted. No electrical energy can be obtained in operating mode 1. Battery power must be used to provide the desired deceleration power. This mode is useful, for example, after a cold start phase of the hybrid drive 10 in order to bring the cooling medium of the cooling circuit 20 to the optimum operating temperature.

If the cooling medium has a suitable coolant temperature, braking is only regenerative if the generator current I _{g is} negative, that is to say that the electrical machine 16 can effectively deliver electrical power. As long as the regenerated power does not exceed the power requested by the on-board electrical system _{consumers, i.e.I} _Bat 0, ^' regenerative braking can also take place without the battery being _ready to charge (Bat _rec = 0). Then operating mode 2 is selected. If a charging current is detected on the battery 18, the battery must be ready to charge available. In this case, operating mode 3 is activated. If this is not the case, the moment of the electrical machine 16 must be limited so that the operating mode 2 is reached again.

If the deceleration power increases to values above the maximum regeneration torque characteristic curve M _Am a _x (depending on the vehicle speed v), the excess _torque M _Aüber ⁼ Ma _so iι-M _{Ämax must be applied} by the brake system 22. Then operating mode 4 is started.

The unit control 42 outputs the control variables

(Signals 34; target torque and target speed) for the electric machine 16. Here, the

Unit control 42 selected a characteristic-based selection of the control variables as a function of the target torque M _Aso ιι and the vehicle speed v. The control characteristic diagrams are designed in such a way that the generator current I _{g of} the electrical machine 16 is maximum for a required target torque M _Aso n and the current vehicle speed v.

The unit control 42 also takes into account a characteristic curve for the maximum torque, the maximum regeneration torque characteristic curve being derived from the relationship

M _MaxReg (v _Fzg ) = min (M _MaxGe n (V _Fzg ), M _maxLad (V _{F2; g} )) results. M _MaxGen (v) represents the maximum torque characteristic of the electrical machine 16 ^' and M _{ax ad} (v) the moments at which the maximum battery charging current I _Bat can be generated. A minimum limiting torque characteristic M _M i _nRe g (v) can also be taken into account. This minimal limit torque characteristic delimits operating modes 2 and 3 from each other. This results in a boundary line between the operating modes that enable an active entry of electrical power into the electrical system and those that load the electrical system with electrical power.

The control characteristic diagrams and the maximum torque characteristic curve of the unit control 42 can be determined and / or calculated in advance on the basis of known parameters of the hybrid drive 10, and can be stored in corresponding memory modules within the regeneration strategy block 32.

The control characteristic diagrams and maximum torque characteristic curves must be determined and stored for each of the possible permissible transmission ratios i of the transmission 14. The selection is then based on the actual transmission ratio i of the transmission 14, it being then nfluss taken by the switching logic 40 Ei ^'.

The switching logic 40 can cause ^'that speed change by the regenerative efficiency of the engine can be improved electro- fresh 16 when it is in the regenerative mode, and operatively connected to the transmission 14, is. The gear ratios that are optimal for regenerative braking processes, for example target gears, are stored in a shift map that uses the target output torque M _Aso ιι and the current vehicle speed v as parameters. These switching maps are also stored in memory modules of the regeneration strategy blocks 32.

The shift map is determined for all operating points that can be represented with several gears or several gear stages with the help of an optimization. For this purpose, for example, the generator current I _g can be calculated for each permissible transmission ratio by means of the control characteristics of the unit control 42, and the transmission ratio at which the maximum generator current I _g can be realized can be stored as optimum efficiency.

If a shift program for driving is stored in the higher-level vehicle control system, the current target gear ratio of the transmission 14 for regenerative braking must be compared with the target gear ratio of the transmission 14 for the drive case during constant travel at the current vehicle speed v , It can be provided that only one gear step difference between the two target gear ratios is allowed. This prevents an unnecessarily high gear change effort when switching from braking to drive operation of the vehicle. If the target deceleration torque on the drive axle is below a predeterminable threshold value and / or if a gradient of the target deceleration torque is positive, that is to say that an actuation of the brake pedal is withdrawn, a switch is made to the target gear ratio of the transmission 14 for driving during regenerative braking. The positive gradient of the deceleration torque indicates that the driver or a driving machine requests driving of the vehicle again.

The vehicle-specific parameter or strategy block 36 contains vehicle and drive train-specific information, such as, for example, the desired cooling water temperature T _K ühis _o iι or the maximum battery charging current I _Bat M _{a a} . Furthermore, additional, vehicle-specific decision criteria for the selection of the operating modes can be carried out the brake module selector 38 be provided.

FIG. 2 schematically shows a hybrid drive 10 in a specific embodiment, on the basis of which the implementation of the braking energy regeneration strategy is to be clarified. The hybrid drive 10 shown here is a so-called power-branching dual-E drive. The hybrid drive 10 comprises the internal combustion engine 12, the first electrical machine 16 and a second electrical machine 16 '. A crankshaft 44 of the internal combustion engine 12 and drive shafts 46 and 48 of the electrical machines 16, 16 'are operatively connected to the transmission 14. bound. The crankshaft 14 is also coupled to a dual-mass flywheel 50 and a freewheel 52.

The drive shaft 46 of the electrical machine 16 is connected to a first planetary gear 54 and the drive shaft 48 of the electrical machine 16 ′ to a second planetary gear 56. A ring gear of the planetary gear 54 is connected to a manual transmission 58 and a ring gear of the planetary gear 56 is connected to a manual transmission 60. The manual transmissions 58 and 60 are in turn operatively connected to an output shaft 62 of the transmission arrangement 14. The output shaft 62 is operatively connected to the drive arrangement 24 via an axle gear 64 and the brake system 22.

Design and operation of such a hybrid drive 10 are generally known, so that in the ^'men framework of the present description will not be discussed in detail. In particular, through a targeted control of the internal combustion engine 12 and / or the electrical machines 16, 16 ', a different drive torque can be requested from them on the output shaft 62. Different operating modes of the hybrid drive 10 can thus be set. The gearbox 58 and 60 permit by operating a switch actuator in a known manner, the insertion of different transitions, which are designated here with the gears 1, 2, 3, 4, 5 and 6, and ^'with a reverse gear R. The electrical machines 16, 16 'can also each operate in generator mode. are driven and serve, for example, to provide an on-board electrical system voltage of the motor vehicle and to charge the motor vehicle battery 18. The electrical machines 16 are each assigned braking devices 66 and 68 with which the rotors of the electrical machines 16 can be mechanically braked.

The braking system 22 can be used to mechanically brake the drive train 24. In standard drives for vehicles, braking is usually always carried out mechanically on a front axle, so that only a deceleration component of the deceleration torque applied by the electrical machine 16 in generator operation on the rear axle can be regenerated in whole or in part and fed into the vehicle electrical system.

The following modifications result in relation to the general relationships for the braking energy regeneration according to the invention explained with reference to FIG. 1.

The interface 28 additionally receives signals 30 which correspond to the current actual moments of the electrical machines 16 and 16 '. The possible operating modes that are selected by the brake module selector 38 also apply to this specific embodiment of the hybrid drive 10.

The shift logic 40 can influence the shift stage of the transmission 14. In the specific embodiment variant according to FIG. 2, a total of five driving levels possible. FIG. 4 shows a shift map for the transmission 14, the shift stages 2, 3 and 4 being designated, which are suitable for regenerative braking with the corresponding operating points which are dependent on the target output torque M _A and the vehicle speed v.

The unit control 42, which specifies the control variables for the electrical machine 16, works with the control map shown, for example, in FIG. 3. This control map of the electrical machine 16 is related to the drive stage 2 of the transmission 14. The limit torque curves which apply to the maximum _torque M _MaXRe gi and the minimum _torque M _M i _nReg ι are _{entered in the control map} . Depending on the gearbox output shaft setpoint torque M _A and the vehicle speed v-, a setpoint torque Mι ₆ results for the electric machine 16 from the control map.

Since, according to the exemplary embodiment in FIG. 2, the hybrid drive 10 has two electrical machines 16, 16 '(the illustration in FIG. 3 relates only to the control map of the one electric machine 16), absolute maximum limit torque characteristics and absolute minimum limit torque characteristics result, From which the electrical machines 16 and 16 'can make an effective entry into the electrical system as a sum of M _Maxl6 and M _Max i ₆ ' or _M ini6 and M _Minl6 ..

In the case of brake regeneration, the hybrid drive 10 according to FIG. 2 has a continuous and a discrete degree of freedom. The continuous degree of freedom depends on the torque distribution between the electrical machines 16 and 16 '. The discrete degree of freedom depends on the selection of the drive level of the transmission 14. By specifying the desired torque M _{6 of} the electrical machine 16 via the control map according to FIG. 3 and a desired drive level by the switching logic 40 according to the shift map according to FIG Operating points for the brake regeneration case determined.

The vehicle-specific strategy block 36 for the hybrid drive 10 according to the exemplary embodiment in FIG. 2 contains, for example, the value T _K uhi = 90 ° C. as the optimal coolant temperature and the value I _Ba t = 500 A for the maximum battery current.

Furthermore, the actual torques of the electrical machines 16, 16 'are compared with the target torques Mi _ß , i _ß . If the actual torque is below the target values, it is assumed that the torque of the electrical machines 16, 16 'has been automatically limited, for example by the pulse-controlled inverter controlling the electrical machines 16, 16'. This can be the case if there is an overvoltage in the vehicle electrical system. In this case, the target transmission output torque M _{A is} replaced by the actual torque of the electrical machines 16 and this reduced actual torque via the engine control unit 26 to the electronically actuated brake system. 22 reported. If the actual torque of the electrical machines 16 and 16 'is above the target value or the actual torque is 0, then an error is recognized and the internal error flag FRek _F iag is set to 1, so that the operating modes 1 to 4 cannot be specified by the regeneration strategy block 32.

Claims

claims

1. A method for controlling a hybrid drive of a vehicle, wherein the hybrid drive comprises an internal combustion engine and at least one electric machine as drive machines and the output shafts of the drive machines can be operatively connected to a drive train of the vehicle, characterized in that in the event of a negative torque request (braking) to the drive train the vehicle is controlled by the Kennfeid-based control of the at least one electrical machine (16) in the generator operating mode.

2. The method according to claim 1, characterized in that the control of the at least one electrical machine (16) in dependence on a target braking torque (M _AΞo ιι) and a vehicle speed

(tracked.

3. Method according to one of the preceding claims, characterized in that the activation is carried out by a regeneration strategy block (32) which receives the required signals (30) via an interface (28) and which is via function modules (36, 38, 40, 42 ) ^' , which generate control signals (34) for the at least one electrical machine (16).

4. The method according to claim 3, characterized in that a brake module selector (38) depending on the signals present at the interface (28) optionally activates different operating modes for braking.

5. The method according to one of the preceding claims, characterized in that purely regenerative braking, combined regenerative and mechanical braking and purely mechanical braking are available as operating modes.

6. The method according to any one of the preceding claims, characterized in that a unit control (42) a target torque (Miβ) and / or a target speed (never) for the at least. an electrical machine (16) specifies as control signals (34).

7. The method according to claim 6, characterized in that the control signals (34) are read from a control map.

8. The method according to claim 7, characterized in that the control maps (34) take into account as parameters a maximum generator current (I _G ) of the electrical machine (16).

9. The method according to any one of the preceding claims, characterized in that the control indicators are delimited by limit characteristics which limit the operating range of the braking energy regeneration.

10. The method according to claim 9, characterized in that a maximum regeneration characteristic defines a transition from regenerative operation to combined regenerative and mechanical operation.

11. The method according to claim 9, characterized in that a minimum regeneration characteristic defines a transition in which an active entry of electrical power into an electrical system is possible or the electrical system is loaded with electrical power.

12. The method according to any one of the preceding claims, characterized in that a switching logic (40) selects a gear stage of a transmission (14) with which an optimized generator efficiency of the electrical machine (16) can be achieved.

13. The method according to claim 12, characterized in that the switching logic (40) uses switching maps.

14. The method according to any one of the preceding claims, characterized in that the shift logic (40) takes into account actual shift stages specified by a higher-level vehicle control, in particular in the event of deviations from more than one shift stage, which tracks the brake regeneration shift stages.

15. The method according to any one of the preceding claims, characterized in that the switching logic (40) takes into account a gradient of the target deceleration torque.

16. The method according to any one of the preceding claims, characterized in that the control maps and / or the shift maps are calculated and / or ascertained on the basis of concrete actual parameters of the hybrid drive (10).

17. The method according to any one of the preceding claims, characterized in that the control maps and shift maps are stored in a control unit (26) in the vehicle, to which the regeneration strategy block (32) has access.

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